Autonomous systems, methods, and apparatus for AG based operations

ABSTRACT

The use of self-powered, autonomous vehicles in agricultural and other domestic applications is provided. The vehicles include a self-propelled drive system, tracks or wheels operatively connected to the drive system, a power supply operatively connected to the drive system, an attachment mechanism for attaching equipment to the vehicle, and an intelligent control operatively connected to the drive system, power supply, and attachment mechanism. The vehicle is configured to connect to the equipment to perform agricultural operations based upon the equipment. Multiple vehicles can be used in a field at the same time. Furthermore, the invention includes the ability to move one or more of the autonomous vehicles from field to field, home to field, or from generally any first location to a second location.

CROSS REFERENCE TO RELATED APPLICATIONS

The Present Application is a Continuation Application of co-pending U.S.patent application Ser. No. 14/513,420, filed on Oct. 14, 2014, whichclaims priority to provisional application U.S. Ser. No. 61/890,653,filed Oct. 14, 2013. These patent applications are herein incorporatedby reference in their entirety, including without limitation, thespecification, claims, and abstract, as well as any figures, tables, ordrawings thereof.

FIELD OF THE INVENTION

The invention relates generally to autonomous systems, methods, andapparatuses for use with agricultural based operations. Moreparticularly, but not exclusively, the invention relates to the use ofautonomous, self-propelled and self-controlled machines for use withagricultural implements, autonomous implements, and the control thereof.

BACKGROUND OF THE INVENTION

The increasing size of farms has created new situations for farmers.With limited lengths of seasons for agricultural operations, e.g.,tilling, planting, harvesting, baling, and the like, it has becomedifficult for some farmers to complete certain tasks within the limitedtimeframe. For example, an ideal planting window for certain crops mayonly last a couple weeks. Many issues can affect whether a farmer isable to get all of the seed in the ground within the timeframe.

Some implements are becoming larger, such as the introduction ofplanters with a large number of row units. The more row units allow forfewer passages through a field. The costs associated with such equipmentcan be high, limiting the number of planters that a farmer can afford.In addition, if one or more of the planters breaks down or otherwise hasissues, the delay in fixing the planter may cost the farmer plantingtime, in addition to the cost of repair. Even when farmers are able toafford multiple implements, including tractors and other equipment,there may be a problem of being able to hire enough workers to operateeverything. Furthermore, as weather conditions tend to change and beotherwise unpredictable, this creates an additional hurdle. Operatorscan be limited to performing certain operations in limited weatherconditions, such that the weather can create multiple delays in thecompletion of an operation.

Other operations may include additional issues. For example, harvestingcrop includes many of the same issues as planting, with the additionalissue that combines and other equipment associated with harvesting canbe more expensive. Furthermore, with planting, spraying, harvesting, andother operations, the time for completing each operation can beincreased by the constant need to replenish materials, empty materials,replenish fuel, replace individual components, and any other task thatmay involve the stopping of the operation, for even a limited time.

Therefore, there is a need in the art for a method, system, and/orapparatus that can aid farmers and others in completing variousoperations. The method, system, and/or apparatus can be used to reducethe time for completing operations, reduce the amount of manpowerneeded, increase the conditions in which an operation can be completed,or otherwise reduce the number of issues associated with farming andother operations.

SUMMARY OF THE INVENTION

Thus, it is a principle object, feature, and/or advantage of theinvention to overcome deficiencies in the art.

It is another object, feature, and/or advantage of the invention toprovide a system including an autonomous vehicle for performingagricultural operations.

It is yet another object, feature, and/or advantage of the invention toprovide an autonomous vehicle that is self-propelled and capable ofattaching to various agricultural equipment.

It is still another object, feature, and/or advantage of the inventionto provide a system that includes a plurality of autonomous vehicles forperforming agricultural operations in a field at the same time.

It is a further object, feature, and/or advantage of the invention toprovide an autonomous vehicle that can self-attach to one of a pluralityof equipment or implements.

It is yet a further object, feature, and/or advantage of the inventionto provide a system that reduces the amount of time needed to performone or more agricultural operations.

It is still a further object, feature, and/or advantage of the inventionto provide a vehicle that includes permanent or modular outputs forproviding a supply to tools, equipment, or other machines.

These and/or other objects, features, and advantages of the inventionwill be apparent to those skilled in the art. The invention is not to belimited to or by these objects, features and advantages. No singleembodiment need provide each and every object, feature, or advantage.

Accordingly, the invention includes systems, methods, and apparatusesfor providing autonomous agricultural operations. According to someaspects, the invention includes the use of one or more autonomousvehicles, which vehicles may be known as a tug unit. The tug unit is aself-propelled vehicle that includes a power source, drive system,wheels or tracks, and attachment mechanisms or surfaces. The autonomousvehicle can be programmed to perform operations in a pre-programmedmanner, or in an on-the-fly manner, where a master module continuallyupdates the vehicle with new instructions. The on-the-fly operation canalso be continuously updated by the use of modules placed on and aroundthe tug unit. The modules can include various sensors, radar, LIDAR,cameras, radio, antennas, GPS, and the like to provide updatedinformation that will aid in operating the tug unit. The tug unit mayalso include an intelligent control, including a communication system.The communication system may include wire or wireless communicationmethods, such as Wi-Fi, Bluetooth, sensors, or the like. Furthermore,while some embodiments include the use of tracks, it is alsocontemplated that the tug unit may include wheels in the place oftracks.

The tug unit is configured, according to some aspects of the invention,to connect or be equipped with an implement or equipment. For example,the implement or equipment may be agricultural based equipment such as,but not limited to, planting equipment, harvesting equipment, sprayingequipment, tilling equipment, bailing equipment, mowing equipment, grainstorage equipment, or the like. Furthermore, it is to be appreciatedthat the invention is not limited to strictly agriculture basedoperations, and the methods, systems, and apparatuses disclosed hereinmay also be used in other industries, such as mining, construction, orother domestic operations.

To connect to the various implements and/or equipment, the tug unit mayinclude attachment mechanisms, such as quick attached mechanisms.Examples of quick attached mechanisms include, but are not limited to,arms, three point hitches, power take-off connections, jacks on lifts,cable lifts/roll boxes, or the like. In addition, the inventioncontemplates that the tug units may include automatically connectingcomponents, such as but not limited to electrical connections, hydraulicconnections, pneumatic connections, power take off connections, sensors,and the like. In such situations, it is contemplated that when the unitand implement are close enough to connect to one another, theself-connecting mechanisms will automatically connect between the unitand the implement such that the tug unit can provide the necessaryoutput to the unit in order to power and/or operate the implement.

According to other aspects of the invention, it is contemplated that oneor more of the tub units may be connected to one another in order toprovide additional power to larger implement or equipment. In addition,the tub units may be connected to one another in order to move the oneor more units from one location to the next. In such situations, the tugunits can be connected via cables, wireless, GPS, or the like, in orderto move the units in a train like manner from one location to the nextwithout the need for an operator to be operating each individual unit.However, the invention also contemplates that at least one of the tugunits may be equipped with a pop-up or add on cab such that an operator,i.e. farmer, can manually operate the one or more tug units. In suchsituations, the additional tug units attach to the manually operated tugunit may mimic or otherwise be controlled by said master or master tugunit.

Other aspects of the invention include that the tug unit may includemodule components. For example, the power system of the one or more tugunits may include modular components such as outlets that may be movedto different locations on the tug unit to provide power for additionalequipment and/or implements. The module components may includeelectrical outputs for powering a generator. Other examples may includemodular motors that can be removed from the tug unit and positioned onthe implement or equipment in order to operate different aspects of theimplement. Additionally, the tug unit may include repair components. Forexample, a tug unit may include additional row units for use in plantingin which a repair tug unit can quickly and easily replace and remove adamaged row unit with a new, modular row unit from the tug unit in ordercontinue planting without delay.

It will be appreciated from the description that many other variations,options, and alternatives may be included as part of the invention. Theinvention is not to be limited to the specific embodiment enclosedherein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view of a tug unit according to an aspect ofthe invention.

FIG. 1B is a view of the tug unit of FIG. 1A without a cover on theunit.

FIG. 2 is a side elevation view of the tug unit of FIG. 1A.

FIG. 3 is a top plan view of the tug unit of FIG. 1A.

FIG. 4 is a rear perspective view of the tug unit of FIG. 1A.

FIG. 5 is a block diagram showing various components and aspects of tugunits of the invention.

FIG. 6 is a perspective view of another aspect of a tug unit accordingto the invention.

FIG. 7 is a side elevation view of the tug unit of FIG. 6.

FIG. 8 is a top plan view of the tug unit of FIG. 6.

FIGS. 9-14 are progressive figures of a tug unit attaching to animplement according to an aspect of the invention.

FIGS. 15-19 are progressive figures of a tug unit attaching to animplement according to an aspect of the invention.

FIGS. 20-27 are progressive figures of a tug unit attaching to animplement according to an aspect of the invention.

FIGS. 28-33 are progressive figures of a tug unit attaching to animplement according to an aspect of the invention.

FIG. 34 is a perspective view of a tug unit with a grain cart.

FIG. 35 is a side elevation view of the tug unit and grain cart.

FIG. 36 is a top plan view of the tug unit and grain cart.

FIG. 37 is a perspective view of the tug unit and grain cart positionedfrom a harvesting unit.

FIG. 38 is a front elevation view of the tug unit, grain cart, andharvesting unit.

FIG. 39 is a top plan view of the tug unit, grain cart, and harvestingunit.

FIG. 40 is a perspective view of a tug unit with a planter.

FIG. 41 is a side elevation view of the tug unit and planter.

FIG. 42 is a top plan view of the tug unit and planter.

FIG. 43 is a perspective view of a tug unit and a tilling unit.

FIG. 44 is a side elevation view of the tug unit and tilling unit.

FIG. 45 is a top plan view of the tug unit and tilling unit.

FIG. 46 is a perspective view of a tug unit and a spraying unit.

FIG. 47 is a perspective view of the tug unit and spraying unit.

FIG. 48 is a top plan view of the tug unit and spraying unit.

FIG. 49 is a perspective view of a harvesting unit.

FIG. 50 is a side elevation view of the harvesting unit.

FIG. 51 is a top plan view of the harvesting unit.

FIG. 52 is a perspective view showing a harvesting unit, grain cartunit, and a stover unit.

FIG. 53 is a top plan view of the harvesting unit, grain cart unit, andstover unit.

FIG. 54 is a side elevation view showing multiple tug units connected toone another.

FIG. 55 is a top plan view showing multiple tug units connected to oneanother.

FIG. 56 is a perspective view showing multiple tug units connected to animplement.

FIG. 57 is a side elevation view showing multiple tug units connected toan implement.

FIG. 58 is a top plan view showing multiple tug units connected to animplement.

FIG. 59 is a schematic diagram showing multiple units in a field.

FIG. 60 is a diagram of a module for use with a system including variousunits.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIGS. 1A-5 disclose an autonomous vehicle, which may also be known as atug unit 10, according to aspects of the invention. The tug unit 10 is aself-propelled vehicle that can be used for agricultural and otherindustry operations. As shown through the figures, the tug unit 10includes a housing or cover 11. The housing 11 may comprise plastic,metal, composites, or other materials. The housing or cover 11 isremoved in FIG. 1B to show some aspects of components housed generallyor at least partially within the housing of the tug unit 10. Forexample, according to some aspects of the invention, the tug unit 10 mayinclude a self-propelled drive system 17. The self-propelled drivesystem 17 may include an electrical drive system, mechanical drivesystem, hydrostatic drive system, infinitely variable transmission,and/or a continuously variable transmission. The examples of such drivesystems are to be considered exemplary in nature, and are not to beexclusive to the embodiments and/or aspects of the invention.Furthermore, the tug unit 10 includes a power supply or source 16. Forexample, when the tug unit 10 includes an electric drive system, thepower supply may be a diesel electric generator, which includes anexhaust 23. A diesel electric generator will operate to supply power toan electric motor, which controls the drive system and operates the tugunit 10. In addition, other types or sources of generators may also beused instead of the diesel generator, and the invention is considered toinclude substantially all types of generators for providing power to thevarious drive sources. The electric motor and/or generator can alsoprovide additional power output to other components, such as plugins orother detachable power sources. However, as mentioned, when other drivesystems are to be used, the invention provides that other types of powersources may be included.

In addition to the main power source for providing power to the drivesystem for the self-propelled tug unit 10, it is contemplated that thetug unit include additional modular power units. For example, it iscontemplated that additional electrical motors that can connect to thepower supply be included with the tug unit 10. The motors are chargedwhen not in use. When an electric or other power supply is needed, forexample at a location where a fan, blower, power tool, or other deviceis needed, the modular electric motor can be positioned on or near thetug unit 10 to provide said electric power at the specific location.Thus, the modular power supply can be used to provide electric outputfor different equipment or tools that may be needed at remote locations.Generators, pumps, and/or irrigation systems may need to be operated atremote locations wherein a power source is not located. The modularpower supplies of the tug unit 10 can be positioned on, near, or evenaway from the tug unit 10, in either a wired or wireless manner, suchthat the tools needing the power can receive power from the modularmotors. In addition, as will be understood, the modular motors and/orpower supplies 20 (see, e.g., FIG. 5) can be used to operate differentcomponents of the attached implement or equipment that are connected tothe tug unit 10. For example, when the tug unit is used with a plantingimplement, the modular motors or power supplies can be positioned on theplanter to aid in providing power to actuators for providing weightdistribution, down force, and/or folding aspects of the planter. Theycould also be used to provide power to other components of theimplements, such as fans, motors, air seed delivery systems, locationsdevices, sensors, and the like. This is but one example of the way inwhich the motors and/or other power outputs could be used.

The tug unit 10 can also include an intelligent control 19. Theintelligent control 19 is operatively or otherwise electricallyconnected to the components of the tug unit 10 and can be used toregulate and operate the tug unit 10. For example, the intelligentcontrol 19 may include operations to operate the drive system. Theintelligent control 19 may also include a location determining system,such as GPS, radar, LIDAR, or the like, in order to control the locationof the tug unit 10. Further aspects of the intelligent control 19 mayinclude communication devices, such as Wi-Fi, radio frequency, radar,sensors, Bluetooth, or the like. The communication devices of theintelligent control 19 may be used to further indicate the location ofthe tug unit 10 relative to additional units or objects/obstructions,the status of the tug unit and/or implement attached thereto, areaswhere the tug should not navigate, as well as other information. Thecommunication portion of the intelligent control can be utilized to emitthe information from the individual tug unit to additional tug units, toa master module, to a master vehicle, or otherwise to basically anywheredesignated to receive the information. This information can be used todetermine the status of the tug unit and/or equipment attached thereto,estimate time to finish an operation, send alerts, warnings, or othermessages, or the like.

Furthermore, it is contemplated that the tug unit 10 includes sensorsand/or modules. Modules can be placed on and around the tug units 10 andinclude various sensors to provide information to the intelligentcontrol 19. The sensors may include vision sensors, radar sensors, LIDARsensors, heat sensors, moisture content sensors, radio frequencysensors, short-range radio, long-range radio, antennas, and the like.These sensors can be grouped in any manner and can be used to determinemany aspects. For example, the sensors can be used to determine thelocation of a nearby object or obstruction. The sensors may be used todetermine soil characteristics, such as moisture content, compaction,temperature, and the like. The sensors can also be location sensors suchthat the tug unit 10 can know when it is on level ground, on a sidehill, going up or down hill, etc. The location sensors can alsodetermine areas in which the tug unit and/or implement are not totravel, based upon pre-determined and/or programmed data. The sensorscan then indicate to actuators or other mechanisms on the tug unit 10and further to provide a tug unit does not roll over, become stuck, runinto an object, or otherwise put itself in an undesirable situation. Thesensors could also be used with location determining systems, such asGPS. The combination of the sensors and location determination systemswould allow a tug unit 10 to travel to a location without running intoobstructions, without running into other tug units or vehicles, withoutdamaging planted or existing crops, as well as with obeying other rules,such as traffic regulations. The sensors and/or location determiningsystems would allow a tug unit to travel from one location to another,to locations within a field, or otherwise in combination with additionalvehicles safely and precisely.

As shown throughout FIGS. 1A-5, other components of the tug unit 10 areincluded. For example, it has been disclosed that the tug unit 10includes wheels or tracks 12. It should be appreciated that theinvention contemplates that the term wheels and tracks can be usedinterchangeably for purposes of the tug unit 10. Thus, the tug unit 10of the invention is not to be limited to the use of either wheels and/ortracks, and contemplates that either and/or both can be used on a sameor different unit. In addition, it is contemplated that the wheels ortracks 12 can be interchangeable such that weather conditions, fieldconditions, and other conditions can be determinative as to whetherwheels, tracks, or some combination are utilized together. Furthermore,it is to be provided that the invention contemplates the use of skispositioned on or near the tug unit 10. The skis can be operativelyattached to the tug unit 10 to allow for the use of the tug unit inadverse conditions such as snow, sleet, and/or ice. Furthermore, it isto be appreciated that the tug unit is operable in any direction. Asshown in FIG. 2, it is generally assumed that the left side of thefigure is the forward or front position, while the right side of thefigure is the rear or backside of the tug unit 10. However, due to theconfiguration use of the tug unit 10, it is to be appreciated that thetug unit has no true rear or front end. Thus, it is to be appreciatedthat the tug unit can go in either direction, i.e. forward or backward,and not be affected in any manner. This is due to the tug unit beingprogrammable to operate and without the need for constant input. Thesensors and other input or location receiving components of the tug unitwill simply direct the tug unit to where it needs to go, regardless ofthe direction in which is it going. Therefore, another aspect of theinvention provides that when tracks or wheels are used, the tracks orwheels 12 may include a bi-directional treads. The bi-directional treadsof the wheels or tracks 12 will allow the tug unit to maintain gripwhile traveling in either direction with minimal slippage. Thebi-directional travel of the tug units 10 also allows the units to becombined with one another or multiple tug units in order to performcertain functions or operations.

It is also contemplated that, when wheels are used, the tug unit 10provides for full turning rotation of the wheels. This would providenumerous advantages. For example, the full rotation of the wheels wouldallow for a full 360° turning radius of the unit 10. This would aid inthe positioning of the unit. The rotation of all of the wheels wouldalso allow a unit 10 to travel is a substantially sideways manner. Asmentioned, the unit 10 can travel in any direction, due to the sensors,drive system, and other components. This is also true for any directionbeyond straight forward and reverse. The maneuverability of the unitsallows them to be used in tighter spaces, and also allows them to escapeadverse conditions where previous vehicles may be become stuck.

The tug unit 10 also can include one or more attachment mechanisms 15for attaching to additional tug units, equipment, implements, or othervehicles or items. It is contemplated that the attachment mechanisms 15can be quick attach, self-attach, manual attach, or some combinationthereof. Furthermore, it is contemplated that the attachment mechanism15 may be universal such that a tug unit can be used with existingequipment without change to the existing equipment. For example, forequipment that utilize a three-point hitch, the tug unit 10 can beequipped with a three-point hitch receiver such that the tug unit canquickly and automatically connect to the existing equipment. Inaddition, the tug unit can be provided with multiple attachmentmechanisms 15 in order to attach to a different type or styles ofequipment or implements. It is to be appreciated that the tug unit ofthe invention is not to be limited to the types of attaching mechanismsshown and described herein, and can include generally any type ofattaching mechanism that is needed for any operation in which the tugunit may be used.

According to some aspects of the invention, the attachment mechanism(s)15 of the tug unit 10 may include an arm attachment, three-point hitch,power take off connection, flatbed, cable lift, roll box, or somecombination thereof. It is also to be appreciated that one or more ofthe attachment mechanisms may be included on a single tug unit 10. Forexample, it is to be appreciated that the tug unit 10 may include athree-point hitch on both ends of the unit for attaching to multipleimplements. In addition, it is contemplated that a three-point hitch bepositioned on one end of the tug unit 10, while a different type ofattachment mechanism is positioned on the opposite end thereof.Furthermore, it should be appreciated that two or more of the attachmentmechanisms may be positioned on one end, and two or more positioned onthe opposite end as well. There is generally no limit to the type and/ornumber of attaching mechanisms 15 for providing with the tug unit 10, asthe attachment mechanisms are also contemplated to be positioned on oneor more sides of the tug units. It should also be appreciated that whenadditional or different types of attaching mechanisms 15 be used withthe tug unit 10 of the invention, modifications may be made to said tugunit 10. For example, the cover 11 may be modified to provide foradditional space on or near the tug unit 10. Thus, the interiorcomponents of the housing 11 of the tug unit 10 may also be movedaccordingly in order to provide for the additional attaching mechanisms.

An example of the ability to provide attaching mechanisms on both sidesof the tug unit may be illustrated as follows. It is contemplated that aplanting implement may be positioned on one end of the tug unit 10. Forexample, a planting implement may be positioned at the right side (e.g.,the rear end) of the tug unit 10 as shown in FIGS. 2, 3, and 4. Inaddition, a tilling, thrashing, or other implement may be positioned onthe opposite end thereof (e.g., the front end). Therefore, as theimplement travels through a field, the tilling implement on the frontside of the tug unit 10 may be used to break up compacted soil, trash,stover, weeds, or other obstructions that may be located within or nearthe field. The implement on the front side of the tug unit 10 may alsobe accumulating data prior to the planting of the seed by the plantingimplement. For example, the data collected may include soil hardness orcompaction, moisture content of the soil, temperature of the soil,expected depth of the opening wheels of the planter, or the like. Thisinformation can then be transmitted to the planting implement or othertug units. The information can be used to adjust the planter such thatan ideal depth and spacing is provided for the seeds at each row. Whenthe implement at the front side of the tug unit 10 indicates a morecompact soil, the information may be transmitted to the planter suchthat additional down force is provided at one, multiple, or each of therow units of the planter in order to provide the opening wheels at adepth in order to plant the seed at an ideal depth within the compactedsoil. Once the soil becomes less compact, as indicated by the frontimplement, the down force can be again adjusted to provide less downforce such that the seed is not planted at too great of a depth. Otheradvantages of having an implement on the front and rear side of the tugunit will be apparent to those skilled in the art. Furthermore, as thereis no need for a person operating the self-propelled, autonomous tugunit 10, it should be appreciated that the implement on the front sidein the direction of the travel of the tug unit can be generally any sizewithout the worry of providing a blind spot for an operator. As the tugunit will be operating based upon input data or location data, such asGPS and sensors, there will be no need for line of sight from the tugunit 10 to the location in front of the unit.

FIGS. 6-8 show another embodiment of an aspect of the tug unit 10according to the invention. As mentioned, while the tug unit 10 may beself-propelled and autonomous while in a field, there are situationswhen the one or more tug units need to be moved using public roads, orin another controlled situation. During such times, it may be desirableto manually operate and control the tug unit 10 to comply with laws andregulations, or to otherwise manually operate the unit(s). Therefore, anaspect of the invention contemplates the addition of a cab 22 for a tugunit 10, such that an operator can manually operate the unit 10 withinor near the cab 22. The cab 22 may be an attachable and separate memberor maybe a pop-up style cab. For example, when a pop-up styled cab 22 isused, the components of the cab may be housed within the housing 11 orother portions of the tug unit 10. An operator can manipulate the tugunit 10 in order to access the cab 22 such that the tug unit transformsto a manually operable vehicle. When an attached cab 22 is used, thecomponents of the cab 22 can be selectably attached to the tug unit 10to provide a manually operable vehicle.

Components of the cab 22 may include roll over protection devices 24.The roll over protection 24 may include roll bars or other structures toaid in protecting and providing safety for an individual within the cab22. This may include vertical structures and/or a roof structure. Theaddition of fenders 26 covering the wheels or tracks 12 may also beprovided. The fenders 26 provide additional safety for the operator, andmay also include means for accessing the cab 22. Finally, a steeringmechanism 28 can be included with the cab 22. The steering mechanism canbe a steering wheel, joystick, pedal system, or other operable device tooperate the speed and direction of travel of the tug unit 10.

The addition of the cab 22 can be utilized to move the one or more tugunits 10 from one location to the next utilizing public roads or access.As will be understood, when multiple tug units are provided, only onetug unit 10 may need to be transformed or otherwise be a manuallyoperable unit. The remaining tug or tugs can be attached to the manuallyoperable tug unit 10, i.e., the master tug unit, and the master tug unitcan communicate to the additional tug units as to the type of travel,direction of travel, speed, alerts, path conditions, or the like.

The tug or a fleet of tugs (a plurality of tug units) could be attachedto another vehicle (tractors, combines, trucks, etc.), other than amaster tug, to control them down the road. For example, a cord, whichmay be known as an umbilical cord, can be attached to each of theadditional tug units. The cord can transmit information from the mastertug unit, or other lead unit such as a tractor or other work vehicle, tothe one or more child tug units, which can indicate information such asspeed, turning, stopping, external information, or the like. One exampleof a cord or other attachment between tug units is shown in FIG. 55.

The master tug unit can also communicate to the child tug unitswirelessly. For example, when a change occurs manually to the master tugunit, this information can be transmitted wirelessly to the children tugunits such that they will also change in a similar manner. This wirelesscommunication can include change in speed, change in direction, or thelike. When such non-connection is used, the GPS coordinates, sensorsbetween units, Bluetooth, Wi-Fi, light beams, and/or some combinationthereof may also be utilized to provide additional safety. For example,the sensors may include light, vision, radio frequency, or other sensorson or around the units to indicate the presence of items, includingobstructions, signs, other vehicles, curves, etc. A vision sensor may beincluded such that the unit can “read” the shape of road traffic signsto indicate to the unit an instruction. For example, the vision sensormay read the shape of a stop sign such that the sensor indicates for thetug unit to stop. At such a location, additional sensors can emit datacollection around in a 360° manner from the tug unit to indicate thepresence of any other objects. When no object or objects are detected,the tug unit 10 receives further instruction to proceed travel onceagain. The vision sensors will be continuously updated in order toprovide the change in any additional item, such as another vehicle,person, object, or anything else that may obstruct the travel of the tugunit 10.

The master unit will travel in a leading path, such as in a pathdetermined to be the shortest distance on roads between a first fieldand a second field. The master will communicate this leading path, aswell as updated information related to the path, to the followingvehicles. Such information can include that information previouslydisclosed. The following vehicles, upon receipt of the updatedinformation communicated thereto, will determine a following path of themaster unit such that the following vehicles will travel similarly tothe master unit towards the intended destination, which may be thesecond field. The communication of information between the vehicles willallow a convoy-like travelling of the vehicles to maximize the safety ofmoving the plurality of vehicles without having to load and unload thevehicles on a trailer or other transport device. The communication, asmentioned, can be wired through and umbilical cord-like mechanism, orcan be wireless, such as via wireless connections between the pluralityof units.

Furthermore, the tug unit may include additional aspects to comply withthe regulations and laws, while also providing greater use in a field orother environment. For example, the wheels or tracks 12 may be attachedto a mechanism such as actuators that can control the width of the tugunit 10. Thus, width and height of the wheels of the tug unit 10 can beselectively or automatically varied. This will provide greater stabilitywhen going through fields and hilly environments. For example, whentraveling on a side hill, the tracks may be widened and the height ofone or more of the tracks may be manipulated to provide stability suchthat the tug unit does not roll over. This will also move the weight orcenter of gravity or mass of the tug unit to a different location. Inaddition, many laws and regulations have standard width requirements forvehicles. Thus, when transporting the tug unit(s) to a differentlocation on a public road, the actuators and sensors can be manipulatedto reduce the width of the tracks and/or wheels 12 to comply with saidlaws and/or regulations.

The vehicles, including the master and/or any follower or childrenvehicles, will utilize the sensors to continue to obtain information asthe vehicles travel from one field to another or to another enddestination. The obtained information will be continuously or randomlycommunicated to the other vehicles. This information can be used toadjust the transport of the vehicles. The information can affect one ormore of the vehicles to change an aspect such as the speed of one ormore of the vehicles, the path of one or more of the vehicles, thedistance between one or more of the vehicles, the distance between oneof the vehicles and a non-transporting vehicle (such as a standardoperating vehicle with driver traveling the road), the width of one ormore of the vehicles, the height of one or more of the vehicles, or somecombination. For example, the master unit could sense a stop sign, whichwould then communicate to the others to stop as well. If connectedwireless, each additional following vehicle would know that it needed tostop. Furthermore, if one of the vehicles indicated an obstruction orother problem with the first determined path, it could determine asecondary path and communicate the same to the other vehicles such thatthe secondary path would then become the path taken by the vehicles. Itshould also be noted that only one or some other subset of the vehiclesneed an adjustment. For example, the vehicles will not always be thesame. The vehicles may include various implements, such as a combine,grain cart, planter, or otherwise, all traveling together. One of theunits could determine a height, width, or weight restriction on the pathof travel that could affect one or more of the transporting vehicles. Insuch a situation, this could be communicated to one or all of thevehicles, at which point the affected vehicle(s) could adjust as aspectof their travel, such as changing their following path to avoid therestriction. Other information that would suggest a change in the travelof the vehicles can be obtained and communicated to one or more of thevehicles as needed.

FIGS. 9-14 are progressive figures of a tug unit 30 attaching to animplement 35 according to an aspect of an attachment mechanism 34 of theinvention. As shown in the figures, the tug unit 30 includes a shortenedhousing or cover 31, for covering the internal components of the tugunit 30, which were described with regard to the tug unit 10 previously.In addition, the unit 30 includes wheels or tracks 32 and a frame 33.The frame 33 supports the components with the housing 31, attaches tothe wheels or tracks 32 and also provides a portion for the attachingattachment mechanism 34. The FIGS. 9-14 indicate one aspect of attachingthe tug unit 30 to an implement 35. The implement 35 is shown to be atank on a frame. The frame may include an existing attaching member 36or may have a portion for attaching a member 36 thereto. The attachmentmember 34 of the tug unit 30 shown in the figures is an arm 37 with ahook 38. The arm 37 is connected to the frame 33 of the tug unit 30 at apivot point 39. Actuators, such as pneumatic, hydraulic, electric, orsome combination thereof may also be included to operate the arm 37.

As shown in FIGS. 9 and 10, the tug unit 30 travels towards theimplement 35 with the arm in a generally outstretched position from theunit 30. At the end of the arm 37 is a hook member 38. The hook member38 may be any attachment means. For example, the hook can be a simplehook, it can be a pin or clasp, or it can be any other member forsecurely attaching to an attaching member 36 of the implement 35. Asshown in FIG. 11, the tug unit 30 moves until the hook 38 is in anattachment location near the attachment member 36 of the implement 35.At this point, the tug unit 30 is ready to manipulate the attachmentmechanism 34 to attach the implement 35 to the tug unit 30.

As shown in FIG. 12, the arm 37 will begin to rotate about the pivotpoint 39 at the end of the frame 33 of the tug unit 30. The rotation ofthe arm 37 will begin to lift the implement 35 onto a portion of theframe 33 of the tug unit 30. The rotation of the arm 37 will continueuntil the position shown in FIG. 13, wherein the portion of the arm 37is generally vertical. At this position, the implement 35 is raisedcompletely off the ground and is positioned on a frame portion of thetug unit 30. At this point, the arm 37 is moved in a direction towardsthe housing 31 of the implement. Therefore, additional cables,actuators, gears, or the like may be utilized to transport the pivotpoint 39 and arm 37 from the right of the frame 33 towards the housing31 of the tug unit 30. This continues until the position shown in FIG.14, wherein the arm 37 may be retracted into the housing 31, and theframe of the implement 35 is positioned generally adjacent the housing.The arm 37 will still be connected to the attachment member 36 of thehousing to ensure that the implement 35 remains in place on the tug unit30 during use of the tug unit 30 and implement 35 combination.Additionally, other connections may be made between the tug unit 30 andthe implement 35 for operating the implement 35. For example, electricalconnections, hydraulic connections, power take-off connections,pneumatic connections, or the like may be utilized in order to providepower or other operations from the tug unit 30 to the implement 35.Other securing members, such as hooks, locks, or the like can beincluded to further secure the implement to the unit 30. Once the tugunit 30 has finished use of the implement 35, the process can bereversed to replace the implement 35 at a location such that the tugunit 30 can be used in another manner. For example, the tug unit 30 mayutilize all of the material within the tank such that a replacement tankmust be attached to the tug unit for additional use. The tug unit maythen be connected to a different implement for a different operation.

Furthermore, as will be understood, while the tug unit and tankcombination is used, the tank may run low on supply. As mentioned, thetug unit can be receiving information from the implement as theoperation is being completed. Thus, when the tank begins to near empty,the tug unit will update this information and can transmit thisinformation. An additional unit, such as an additional tug unit, can bealerted to travel to the location of the tug unit 30 to refill the tank.Thus, the invention contemplates the use of maintenance or tender tugunit that can refill materials, such as tank material, fuel, or thelike, during operation of the tug unit/implement so that there is littleto no delay in the operation.

FIGS. 15-19 disclose additional progressive figures of a tug unit 40attaching to an implement 45 according to another aspect of theinvention. The tug unit 40 is similar to that disclosed previously, andincludes a housing cover 41, tracks or wheels 42, and a frame 43.Furthermore, the tug unit 40 includes an attachment mechanism 44, whichis shown to be a three-point hitch 47. The three-point hitch 47 isattached to the tug unit 40 via a four bar linkage 48. The tug unit 40shown in the figures can be utilized to attach to any implement orequipment that is configured to be attached to a three-point hitch. Thethree-point hitch 47 and four bar linkage 48 can be connected to the tugunit 40 and can also be connected to an actuator, such as a linearactuator, hydraulic actuator, pneumatic actuator, or the like. Theactuator can provide vertical movement of the three-point hitch 47 viathe four bar linkage 48.

FIGS. 15 and 16 show the tug unit traveling toward the implement 45,which is shown to be a tilling implement. The tilling implement 45includes a three-point hitch receiver 46. Therefore, as the unit 40moves towards the implement 45, the four bar linkage 48 is lowered suchthat the three-point hitch 47 can be received by the attachment member46 of the tilling unit, as shown in FIG. 17.

At this point, the four bar linkage 48 can be lifted, as shown in FIG.18, to further connect the three-point hitch 47 to the implement 45. Thelifting of the implement 45, as shown in FIGS. 18 and 19, allows the tugunit and implement combination to travel to the location of tilling in afield without tilling in an unwanted area. However, at the locationwhere the tilling is to begin, the four bar linkage 48 can be lowered toposition the implement 45 in the ground so as to begin tilling throughthe field. Once completed, the tug unit 40 can travel to position theimplement 45 at its original or other desired position, and can bedisconnected from the implement 45 by lowering the four bar linkage to apoint where the three-point hitch 47 becomes disconnected from theimplement 45.

The three-point hitch, as shown in FIGS. 15-19, will allow a tug unit tobecome attached to generally any implement, equipment, or tool that isalready equipped with a three-point hitch receiver. Thus, there willneed to be no modifications to existing equipment in order to use thetug unit with said existing equipment. In addition, the three-pointhitch is a standard in the industry such that there will be little to novariation between models, manufacturers, and the like, of the variousimplements and equipment.

Furthermore, as discussed, it is contemplated that the unit 40 includesa three-point hitch on both ends of the unit in order to attachadditional implements for use at the same time or without having towaste time switching out the implement connected to the unit.

FIGS. 20-27 are yet another progressive set of figures of a tug unit 50attaching to an implement 55 according to an aspect of the invention.The embodiment shown in FIGS. 20-27 includes the use of a tug unit 50including a housing 51, wheels or tracks 52, and a frame 53. The frame53 includes a flatbed or other bare portion that is used as part of theattachment mechanism 54, as will be understood. The implement 55 forconnecting to the tug unit includes jacks 56 for raising and loweringthe implement 55. The implement 55 shown in the figures is a tank on aframe.

In the embodiment shown in FIGS. 20-27, the implement 55 will include acommunication or other connection for receiving information from the tugunit to operate the jacks 56 of the implement 55. For example, the tugunit 50 can utilize sensors, location devices, and the like, to positionthe flatbed portion of the frame 54 generally underneath the implement55, between a first set of jacks 56. This is shown in FIGS. 20-24. Thesensors, which may include vision sensors and other sensors, will directthe tug unit 50 to a location generally under the implement 55 with theimplement being positioned with its center of mass generally at thecenter of the attachment portion 54 of the tug unit 50. In other words,the implement 55 will be centered relative to the attachment portion 54of the tug unit 50. The tug unit 50 will position itself until it is inthe position shown in FIG. 54, generally underneath the implement 55with a portion of the frame of the implement generally adjacent aportion of the housing 51 of the tug unit 50.

At this position, there will be communication between the tug unit 50and the implement 55. The communication may be from wirelesscommunication between sensors in both the tug unit and implement,wireless communication between intelligent controls of the implement andtug unit, or wired controls via automatic wired connections between thetug unit and the implement. For example, when the tug unit gets in theposition shown in FIG. 24, cables may automatically attach between thetug unit 50 and the implement 55. The length of the cables and othersensors may indicate that the tug unit is in the proper position.However, as mentioned, the sensors and an intelligent control may alsobe utilized to indicate between the tug unit 50 and implement 55 thatthe two are in proper location relative to one another. However theinformation is transmitted, the next steps can occur as follows.

As shown in FIG. 25, the jacks 56 will operate a lift 57 and cylinders58 positioned in the frame 59 of the implement 55. The lift 57 willoperate the cylinders to retract within the frame 59 to lower theimplement 55 onto the attachment portion 54 of the frame 53 of the tugunit 50. This will continue until the implement frame 59 contacts theattachment portion 54 of the frame 53 of the tug unit 50, which is shownin FIG. 25. The retraction of the cylinders 58 into the lift 57 willcontinue, as is shown in FIG. 56. In FIG. 56, the cylinders have fullyretracted into the lifts 57. Thus, at this position, the full weight ofthe implement 55 is on the attachment portion 54 of the frame 53 of thetug unit 50. Additional attachments or locks may be connected at thispoint to secure the implement 55 to the tug unit 50. Therefore, as shownin FIG. 27, the tug unit 50 and implement 55 are in position to beutilized.

Once the use of the implement 55 has been completed, the tug unit andimplement combination can be positioned at its original or otherwisedesired location. The cylinders 58 of the jack 56 will extend from thelift 57 to lift the implement 55 off of the tug unit 50 to a position inwhich the implement 55 is no longer on the tug unit. After the tug unitand implement have communicated to one another that they have been fullyseparated, the tug unit 50 is able to drive away from the implement toits next use.

FIGS. 28-33 are yet another aspect showing progressive figures of a tugunit 60 attaching to an implement 65. Similar to above, the tug unit 60includes a housing cover 61, tracks or wheels 62, and frame 63. The tugunit 60 also includes an attachment mechanism 64, which is shown to be aroll cable type attachment mechanism. The roll cable includes a cable 67and a hook 68 positioned on or adjacent to a flatbed portion 66 of theframe 63. As shown in the figures, the flatbed portion 66 of the frame63 may be rotatable in relation to the frame 63. This may beaccomplished via actuators, such as linear actuators, hydraulicactuators, pneumatic actuators, or the like. For example, linearactuators may be used and may be powered by the power supply orgenerator of the tug unit 60, when the power supply and drive system forthe tug unit 60 is an electrical drive system. However, the additionaltypes of actuators may also be used and powered by the power supply ofthe tug unit 60.

The implement 65 is shown to be a tank on a frame and including anattachment member of the frame 69. The tug unit 60, with the flatbed 66portion in an upright position, travels towards the implement 65. Thehook portion 68 of the cable 67 is at a lower edge so as to be able tointeract and connect to the frame 69 of the implement 65. Sensors may beutilized at the hook and otherwise rear of the tug unit 60 in order toalign the hook 68 with a portion of the frame 69 of the implement 65.The sensors may include vision sensors, infrared sensors, radiofrequency sensors, RFID sensors, or the like. The tug unit 60 is moveduntil the hook 68 can connect to the frame 69 of the implement 65. Atthis position, the hook and cable are connected to the frame and canbegin to move the implement 65 towards and onto the tug unit 60.

As shown in FIG. 31, once the hook 68 connects to the frame 69 of theimplement 65, a cable 67 may begin to pull the hook and implementtowards an upper end of the flatbed portion 66 of the attachmentmechanism 64 of the frame 63. This will begin to pull the implement ontothe flatbed portion 66. Once enough of the implement is pulled onto theflatbed portion 66, the flatbed portion 66 may begin to rotate in acounterclockwise manner towards the frame 63. It should be appreciatedthat the flatbed portion should begin rotating once enough of the massor weight of the implement 65 is onto the flatbed portion such thatrotation of the flatbed portion will fully lift the implement 65 off ofthe ground. This is shown generally in FIG. 32. As further shown in FIG.32, the implement is fully off of the ground and is at least partiallyon the flatbed portion 66 of the frame 63. The cable 67 will continue topull the hook 68, which is connected to the frame 69 of the implement65, towards the housing cover 61 of the tug unit 60. This will continueuntil the implement 65 is fully on the flatbed portion 66 of the frame63 of the tug unit 60.

At this position, which is shown in FIG. 33, the implement is positionedon the tug unit 60. The hook 68 remains connected to the frame 69 of theimplement 65 and other connections may be made to secure the implement65 to the tug unit 66. These attachments may be locks, snaps, clasps, orother tie-downs that can securely connect the implement automatically tothe tug unit 60. In addition, the tug unit may include automaticconnections, such as electronic, hydraulic, pneumatic, power take-off,or the like between the tug unit 60 and the implement 65 to provide thepower to operate the implement 65 while the tug unit is being used.Furthermore, once the use of the implement is completed, the removal ofthe implement 65 may be done in a generally reverse manner than theattaching thereof.

The tug units of the invention, when using any type of attachmentmechanism, will utilize any and all of the previously mentionedcomponents to aid in aligning, attaching, detaching, and moving theattached components. For example, modules including various sensor,radar, LIDAR, cameras, combinations, etc., may be utilized with theintelligent control of the units to aid in the connecting ordisconnecting of the components. Furthermore, the sensors and/or othercomponents of the modules will aid in determining which of a pluralityof components the tug unit is to connect with. For example, some tanksmay be empty, while being stored next to fuller ones. A bar code orother distinguishing mark of a tank can be received by a sensor or othercomponent of a module, e.g., such as by “reading”, to ensure that thecorrect and desired component is attached to the particular unit.

As has been mentioned, the autonomous tug units according to theinvention can be used with generally any implement or other equipmentfor agriculture and other industry operations. In addition, the tugunits can provide power and other operations to various implements withlittle to no change to the tug unit itself. Thus, the variousconnections, sensors, and the like of the tug units will allow the unitsto be used with a variety of implements and/or equipment. In addition,the tug units will be equipped such that they can receive informationfrom the various implements attached thereto to provide and convey thisinformation to other tug units, to master nodules, to other vehicles,and to anywhere else such that the information can be utilizedaccordingly. As such, various examples of the tug units connected toequipment, implements, and the like, is provided. It is to be noted thatin some instances, the tug unit and equipment or implement may for asingle, integral component, while in others, the unit is separable fromthe implement, such as in one of said previously described manners.

FIGS. 34-39 indicate the use of a tug unit 70 and a grain cart 74. Thegrain cart 74 may be temporarily attached to the tug unit 70, or it canbe permanently or otherwise integrally attached such that a particulartug unit is a dedicated grain cart unit. When it is a temporary unit,the grain cart 74 may be attached to the tug unit 70 via any of themethods previously described and shown. However, as mentioned, a graincart may be a permanent part of a tug unit such that a particular tugunit 70 be a dedicated grain cart unit.

FIGS. 34-36 show a tug unit 70 with a grain cart 74 positioned thereon.The tug unit 70 includes a housing cover 71 for housing and protectingthe internal components of the tug unit, including the power supply,drive system, intelligent control, and the like. The tug unit 70 alsoincludes wheels or tracks 72, as has been described. Furthermore, theunit includes a frame 73. As shown in the figures, the grain cartstructure 74 is positioned at least partially on the frame 73 of the tugunit 70.

The grain cart 74 may be a standard grain cart including a plurality ofwalls 75 defining an interior bin for storing grain or other particulatematerial therein. A grain cart auger 76 is shown alongside the graincart 74. The auger 76 is shown in a horizontal manner, but may bepivotable to a generally vertical or angled manner to move grain orother material from the interior of the grain cart to another location,such as to dispense the material to a semi-trailer or other transportvehicle. In addition, it is contemplated that an internal auger, whichis known generally as a floor auger, may be positioned within the graincart to aid in moving material from the interior of the grain carttowards the vertical or output auger 76 of the grain cart 74. Forexample, the grain cart may take the form of a cart as disclosed in U.S.Ser. No. 12/728,042, which is hereby incorporated by reference in itsentirety.

The grain cart 74 can be connected to the tug unit 70 with electricalconnections, power take-off connections, hydraulic connections, or thelike. These connections can aid in operating the components of the graincart including, but not limited to, the auger, sensors, conveyors, powersystems, air systems, or the like. Therefore, when the tug unit is anelectrically driven unit, the components of the grain cart may also beelectrically driven or powered such that an electric motor or motors canbe utilized to operate the auger or augers, conveyors, power systems,air systems, or any other system of the grain cart 74. In addition, theelectric components of the grain cart can operate one or more sensors ofthe grain cart. The grain cart can be automatically connected to thepower outputs of the tug unit in order to receive the power for thecomponents. This can also be done manually, by the use of manuallyconnecting the outputs and inputs.

FIGS. 37-39 indicate an aspect of the invention wherein the tug unit 70with a grain cart 74 is utilized in combination with a combine unit 78.The combine unit 78 may be a normal combine, or can be a self-propelled,autonomous combine unit utilizing a tug or autonomous vehicle of theinvention, as will be discussed below. In either sense, the combine unit78 shown in the figures includes a combine head 79, cab 80, and combinetank 81 for receiving and storing grain, a combine grain auger 82, andcombine stover auger 83. As is known, the header 79 is used to directcrop into the internal areas of the combine wherein the grain isseparated from the rest of the crop and stored in the tank 81. The graincan then be directed via the auger 82 to a storage vehicle, such as agrain cart 74. The remaining parts of the crop, which may be known asthe stover, can then be passed out the stover auger 83 of the combine.

The tug unit 70 and grain cart 74 can include sensors and other locationdevices, such as GPS, LIDAR, vision sensors, radio frequency sensors, orthe like, and which sensors are used to locate the combine 78 and toposition the tug unit 70 and grain cart 74 near said combine 78 in orderto be able to receive the grain from the combine within the grain cart.For example, when a combine indicates that the tank 81 is filling withgrain, it may emit a signal to convey to a grain cart unit that it needsto unload grain from the combine to the grain cart. The sensors of thegrain cart and tug combination can be used to locate the combine and canbe used to position the grain cart 74 such that the auger head of theauger 82 is positioned generally above the grain cart 74. The grain cartcan then communicate to the combine to begin to pass grain from thecombine to the grain cart.

The grain cart 74 can include additional sensors as well. For example,weight sensors may be included to prevent roll over of the unit, and todetermine when the grain cart is at or near full. If the sensorsdetermine that there is too much weight on one side of the grain cart,the weight sensors can indicate to the tug unit 70 to position the graincart such that the grain is filling the cart in a different location toprevent roll-over and to ensure that the cart is equally full.Furthermore, the weight sensor can indicate that the grain cart is full,and can communicate this to the combine so that the combine stopstransporting the grain through the auger to the cart. Additional sensorsmay include vision sensors, moisture content sensors, and the like. Allof the sensors may also indicate to the grain cart 74 when the graincart is full or near full to indicate to the combine to stop filling thecart. The grain cart can then be traveled to another location, such as asemi-trailer or other transport vehicle in order to unload the contentsof the grain cart into the trailer so that the grain cart can be usedonce again to receive grain from a combine. The sensors, when used withloading a trailer or grain truck, could determine the weigh distributionon the axles of the trailers or trucks, which can prevent or mitigateoverloading of the trucks such that they comply with weight capacities.In addition, according to some embodiments, it is contemplated that thegrain cart itself can be removed from the tug unit and positioned on atrailer for transporting the grain within the cart to another locationfor storage. In such a situation, the tug unit can then attach to aseparate grain cart 74 for further use in the field.

As mentioned, the grain cart can include many sensors. The sensors canprevent rollover and also determine when the grain cart is filled. Inaddition, the sensors may include moisture content to determine themoisture content of the grain in the grain cart to provide an idea ofyield. Furthermore, vision sensors, such as cameras, can be utilized todetect the location of the filling in the grain cart. For example, ifthe sensors detect that the grain cart is mostly being filled near thefront, the unit can speed up to fill in the rear portion of the cart. Ifthe sensors detect that one side is filling up more than the other, thesensors can communicate to the combine unit to extend or retract thegrain auger 82 to adjust the positioning of the filling. Additionalsensors may be used for unloading from the grain cart to an additionalstorage location as well.

FIGS. 40-42 are views of a tug unit 84 connected to and operating aplanter 88. The tug unit 84 includes similar components as above,including a housing 85, wheels or tracks 86, and a frame 87. Inside thehousing are the power supply, drive system, intelligent control andother components, such as sensors, positioning systems, communicationsystems, and the like. The planter 88 is shown to be connected to thetug unit 84 via a connection mechanism.

The planter unit 88 includes a tongue 89 having a hitch 90 at one endand a toolbar 91 at an opposite end thereof. It should be appreciatedthat the hitch 90 could be a three-point hitch for mounting to a tugunit, or the planter could be permanently mounted on the tug unit 84such that the unit is a dedicated planter unit. The tongue 89 may be aset length tongue or can be a telescoping tongue. In the configurationshown in FIGS. 40-42, the tongue 89 is a telescoping tongue such thatthe planter 88 is a forward folding planter. The tool bar 91 includes acenter bar 92, and right and left wings 93, 94 extending from oppositesides of the center bar 92. The right and left wings 93, 94 are labeledand positioned to viewing the planter 88 from a front thereof, and aregenerally mirror images of each other. The planter 88 includes wheels 95attached to the toolbar 91 for movement of the planter 88. The centerbar 92 and right and left wings 93, 94 also include a plurality of rowunits 96 attached thereto. The row units 96 may include row unit hoppers97, seed meters 98, opening wheels 99, gauge wheels 100, and closingwheels 101. However, it is contemplated that a planter 88 may be usedthat includes a bulk seed tank positioned on the toolbar 91 such thatthere will not be individual hoppers at each of the row units 96, andinstead the bulk seed tanks will distribute seed from the bulk seed tankto each of the row units. For example, an air seed delivery system, anembodiment of which is disclosed in U.S. Pat. No. 8,448,585, which ishereby incorporated in its entirety, may be utilized with the invention.Bulk seed tanks could also be placed on the tug unit to reducecompaction due to the large area of the tracks or tires or the planter.In addition, the fertilizer tanks could be placed on the tug for thesame reason. The placement of the seed and/or fertilizer tanks on thetug unit could give a large capacity of seed and/or fertilizer comparedto placing them on the planter frame. The planter 88 configuration isnot to be limiting to the invention.

Further aspects of the planter 88 may include weight distributioncylinders 102 positioned between the central bar 92 and the right andleft wings 93, 94. The weight distribution cylinders 102 can provideweight distribution between the central toolbar and the wings. This maybe useful when planting in hilly locations or when using a bulk seedtank, as the bulk tank will provide more weight at a central portion ofthe toolbar 91. The weight distribution cylinders 102 can provide up ordown movement to the wings 93, 94 to ensure that all of the row unitsare planting seed at the same or similar depth. Wings cylinders 103 andwing supports 104 may also be included. The wing cylinders 103 are usedto fold the wings between open and closed positions. The open positionmay also be called a planting position, while the closed position mayalso be known as a transport position. Such forwarding folding wings aredisclosed in U.S. patent application Ser. No. 13/787,932, which ishereby incorporated by reference in its entirety.

The planter 88 and components thereof may be connected to the tug unit84 such that the tug unit provides power and/or other outputs to theplanter 88. For example, the tug unit 84 may provide electric power,pneumatic power, hydraulic power, or some combination thereof.Furthermore, when the tug unit 84 includes modular components, suchmodular components or motors may be attached or otherwise positioned onthe planter such that these modular components operate the weightdistribution cylinders and/or closing or folding cylinders 103. Themodular motors may also power the air seed delivery or other seeddelivery systems of the planter 88, as well as the components of the rowunits, e.g., seed meter motors, seed to ground systems, air pressuresources, sensors, etc. Such components may be found in U.S. Ser. Nos.13/829,726 and/or 14/478,222, both of which are hereby incorporated byreference in their entirety. Other aspects of the planter 88 that couldbe powered by the tug unit 84 include fans. Furthermore, it iscontemplated that the seed meters of the planter 88 could beelectrically and/or individually operated, with the electric metersbeing powered by the power supply of the tug unit 84.

Regardless of the type of hoppers are used, bulk fill or individual rowunit, it is contemplated that the invention includes a communicationsystem between the tug unit, planter, and/or row units and a commandcenter. For example, when the hoppers begin to get empty, a signal maybe sent to a tender unit, in which the tender unit locates the tug unit84 and planter 88 combination to refill said hopper units. If one ormore row units become damaged, the row units may be modular in that thetender or maintenance unit may be alerted to travel to a location of theunit in order to replace one or more row units. The alerts and otherinformation may also be sent between one or more units and a commandcenter. The command center may be a tablet, phone, master module, ormanually operated tractor to indicate the status and/or location of theplanter 88 and tug unit 84. Other aspects of the invention includeattaching the bulk seed tanks and/or fertilizer tanks on the tug unit84, which can take weight off the planter 88. This would reduce theamount of down force required at each of the row units as well.

Other systems of the invention include the use of a vision system on thetug unit 84 opposite the planter 88. The vision system can indicatetrash flow prior to the planting in such that the system can updateaccordingly. The system can send to a command module or center to alertif there is a large amount of trash in a particular area of field. Inaddition, this can indicate why the unit was stopped if there is a largeamount of trash in the field, i.e., provide status updates. Furthermore,as there is generally no concern about line of sight in front of theunit, a thrasher, disk, tiller, cutter, or other mechanism may bepositioned on the front of the unit opposite the planter, such that thetrash, weeds, or the like can be broken down prior to planting the seedat a particular location. In addition, a separate planter could beattached to the front or opposite end of the tug unit 84 such that theunit is capable of planting more narrowly spaced rows, e.g., twin rows,10-inch spaced rows, 15-inch spaced rows, etc.

As will be understood, the use of the tug unit for planting will providefor any number of row units per planter 88. If one tug unit is to beutilized, a smaller number of rows can be included for a planter 88 dueto the possibility of multiple units and planters in a field at the sametime. The units can communicate to one another as to their location andwhether the area has been planted to update such that an area is notplanted more than once. The units can utilize GPS to ensure that theplanted rows are in substantially straight lines and in the desiredconfiguration, and can also utilize previous years data from sensors toattempt to plant the seeds in an almost identical location, such thatthe rows do not become compacted from the planter wheels. In addition,the tug units 84 will not undergo fatigue or other conditions of humanssuch that the planters can be operating for a longer period of time andin conditions that are more adverse. When larger planters having agreater number of rows are desired to be used, it is contemplated thatmultiple tug units may be connected to one another to provide additionalpower. Such a configuration is shown in FIG. 55, which shows a firstunit 150 and second unit 155 connected. The multiple units cansupplement their power output with one another to be able to tow heavierimplements, machines, or the like. For example, the tug units may becombined in a linear manner such that the power of the drive systems ofindividual units is combined to be able to pull larger implements.Furthermore, it is contemplated that multiple units are capable of beingpositioned on a trailer or other implement wherein the power supplies ofeach of the individual tug units are combined via a single drive systemof the trailer, which is then directed to the larger implement formoving through a field.

Therefore, the invention includes numerous advantages. The amount oftime of planting is reduced due to the fact that the units can beoperated for longer periods of time and in conditions that are moreadverse. The adverse conditions may include adverse weather, adversesoil conditions, or the like. Furthermore, when automatic tendering orrefilling of the units is included, the amount of time can be reduceddue to the decreased downtime for the refilling of the hoppers, fuel,and/or other units. Furthermore, the use of an autonomous andself-propelled tug unit with a planter also provides the advantage ofreplanting. For example, vision, GPS, aerial views, or the like coulddetermine if a location needs to be replanted due to weather or otherconditions. As the location of the tug units have been controlled usingsome sort of location determining system, such as GPS, the exactlocation of previously planted rows will be known and can be storedwithin the intelligent control of the tug unit. Therefore, when an areaneeds to be replanted, the tug unit will be able to tap into this storeddata to near identically align the replanted portion with the previouslyplanted portion without damaging any of the existed planting portions ofthe field. In other words, the tug units will know the location of the“good” planted crops so that they are not run over or otherwise damaged.In addition, the tug units can control the planter such as to offset arow unit to put down in an exact location needed and can pick up the rowunits and put down as needed so as not to damage any other plantedlocation.

FIGS. 43-45 are various views of a tug unit 105 connected to a tillingimplement 109. The tug unit 105 includes a housing 106, wheels or tracks107, and frame 108. The tilling implement 109 includes a tongue 110having a hitch 111 at one end and a toolbar 112 on the opposite end. Thehitch 111 is configured to attach to the tug unit 105 in one of themanners described. Furthermore, the tilling implement 109 may beconnected to electrical, hydraulic, pneumatic, power take-off, or othercomponents of the tilling unit. The tilling implement 109 also includesa plurality of disks 113 and wheels 114. The disks are used to break upsoil and stover in a field, while the wheels 114 provide for movement ofthe implement.

The tilling implement 109 may also include a plurality of sensorspositioned thereon and operated by the power supply of the tug unit 105.For example, the tilling or tillage attachment may include moistureand/or temperature systems that determine the soil characteristics ofthe field being tilled. These soil characteristics could be stored inthe tug unit or could be transmitted to a system or another tug unit forlater use. For example, the soil characteristics could be stored suchthat a particular hybrid of seed could be selected to be planted indifferent locations of a field based upon said soil characteristics. Thesoil characteristics could also be transmitted data to a system toindicate other aspects of a field. It is contemplated that a tug unit105 and tilling implement 109 be operated, with a different tug unit andplanting implement following said first unit. The tilling could beaccomplished directly prior to the planting. The soil characteristicsdetermined by the tilling implement 109 could be transmitted to the tugunit behind said tilling implement so that the second tug unit canoperate the planting unit or implement according to said soil conditionsreceived from the first tug unit and tilling implement combination. Thiscould affect the type of seed to be planted, the amount of down forceprovided, or the like.

Other soil conditions that can be transmitted to a planting unit couldbe the amount or type of fertilizer to be applied upon the transmittedlocation, compaction of the soil, moisture content of the soil,obstructions in the ground, such as to tile blowouts, or the like. Theimplement could determine an area or areas in need of spraying in orderto purge weed buildup. Trash buildup could also be determined by thetilling. For example, the trash buildup could be determined wherein theunit is stopped and the tug unit lifts the tilling implement 109 overthe trash. There could also be shredding or other components positionedon the tilling implement 109 in which the tug unit 105 transmits to thetilling implement to shred or otherwise remove the trash. For example,blowers could be included on the tilling implement 109 to blow the trashout of the way. Further systems, such as vision or sensor systems couldbe used to determine weed buildup and characteristics, such as how densean area is, types of weeds, and the like. This information could beconveyed to a sprayer, fertilizer, or map for preparation of sprayingthe field. The tilling system could also be used to keep tabs on whatareas have been sprayed or what areas may have been missed, due to thebuildup of weed. Furthermore, the system could include wirelesscommunications to indicate any broken or otherwise damaged portions ofthe tilling implement 109.

FIGS. 46-48 show views of a tug unit 115 connected to a sprayingimplement 119. The tug unit includes such similar elements of a housingcover 116, tracks or wheels 117, and frame 118. The sprayer implement119 includes a tank 120, tank frame 121, sprayer arms 122, and sprayernozzles 123. The arms 122 extend generally outward from the tank andtank frame 120, 121, but are pivotable to be moved to a positionalongside the tank 120. While the figures show nozzles 123 at the endsof the arms 122, it should be appreciated that multiple nozzles may bespread out along the length of the arms 122. The spraying implement 119can be connected and operated by the tug unit 115 to provide a number ofadvantages. For example, when the tug unit is an electrically driven tugunit, it can provide additional electrical power to the spraying unit.Such characteristics of an electrical spraying implement 119 includevarying the width of the spraying arms 122 to vary the location of thenozzles 123. The tug unit can also automatically adjust the nozzles tocontrol the flow rate and the operation of the nozzles to spray and notspray at desired locations. Furthermore, the arms and/or tug unit 115can include vision systems to determine areas of high weed concentrationin order to determine where ideal locations for spraying may be. Asindicated above, such areas of high concentration of weeds may be storedor otherwise transmitted to the tug unit 115 such that the entire fieldis not sprayed, and the spraying may be limited to select locationsbased upon known data.

Furthermore, the adjustable width of the wheels and/or tracks 117 of thetug unit 115 provides other advantages for spraying. As the system knowsprecise locations of where to drive, spray, etc., the tug system canstore the location information for future purposes. This storedinformation may also include areas of high weed concentrations andlocation of previous plantings. The information can be used to plantgenerally in the same location every year. As such, this information canbe transmitted to a tug unit 115 used for spraying, such that the tugunit 115 does not drive over said planting locations (rows), which willminimize compaction of the rows. Other advantages of using a tugunit/sprayer combination may include a pre-programmed map to indicateareas of high weed concentration to determine where to spray, where toshut off spray, or to provide automatic running of the sprayer. Theinclusion of communication systems can allow the sprayer to communicateto a CO-OP to indicate that weeds exist. This will allow a tug unit of aCO-OP to automatically go to said precise location to spray to controlthe weed population. In addition, when a CO-OP operates the tug unitswith the sprayers, aerial views may be used to indicate fieldconditions. The aerial views may be obtained by drones or physicalpilots and can indicate to the CO-OP areas of high weed location infields. If high weed concentrations are determined, the tug unit andsprayer combination can be sent out to spray said locations, withoutdamaging known planting locations.

FIGS. 49-53 are views of a harvesting or combine unit 125. The tug unit125 may also be known as a combine unit 130. The tug unit 125 includestracks or wheels 127 and a frame 128 onto which the components of thecombine unit 130 are positioned. The combine unit 130 includes a combineheader 131, cab 132, which may be optional, combine tank 133, grainauger 134, and combine stover auger 135. It is contemplated by theinvention that when an electrical drive system and power supply is usedfor the tug unit 125, the entire combine unit 130 could be electrified.In other words, all components and operations of the combine could beelectrically operated by the tug unit power supply. This would include,but is not limited to, separation of the grain and stock, as well as theoperation of the grain and stover augers. Furthermore, the electricalsystems could include communication data such that the combine unit 130could communicate to additional tug units of certain situations, such aswhen grain is needed to be dispensed from the combine tank 133 to astorage or transport vehicle. This is shown generally in FIGS. 52 and53. The grain and/or stover augers 134, 135 could also include sensors,e.g., vision or other sensors. The sensors could aid in aligning a grainor stover cart, and could also be used to adjust the height, length,angle, or other aspect of the auger while dispensing the grain orstover.

As shown in FIG. 52, a combine unit 130 is joined by a grain cart unit136 and a stover unit 145. The grain cart unit 136 includes a housing139, track/wheels 140, a frame 141, a grain cart 142 comprising graincart walls 143, as well an auger 144. As mentioned previously, the graincart unit 136 can be used to receive grain from the combine unit 130 andcan be adjusted automatically to account for varying amounts of grainand location of grain dispensed therein. Furthermore, the grain cartunit 136 can include communication systems such that the combine unit130 can automatically signal the grain cart when and where to be locatedto receive grain from the combine unit. The grain cart unit 136 can alsoinclude location devices and other sensors to automatically align thegrain cart unit 136 adjacent the combine unit 130. The grain cart unit136, once full, can then automatically transport to a separate locationfor dispensing of the grain from the cart via the auger 144 to a storagelocation.

Furthermore, a separate tug unit 145 may be known as a stover cart unitand can be utilized as well as the grain cart unit 136. The stover cartunit 145 includes a housing 146, tracks/wheels 147, frame 148, andstover cart 149. The stover cart unit 145 can include sensors to locatea combine unit 130, as well as a stover auger 135. The stover cart unit145 can position itself adjacent the stover auger 135 to receive stoverfrom the combine as it harvests crops in the field. The stover, whichincludes generally stalks and other refuge from the crop, can then betaken away once the stover cart unit 145 is filled. Furthermore, thestover cart unit 145 can be automatically connected to or can include abaler, such that the stover is transported from the stover cart unit toa baling unit in order to almost instantaneously begin baling the stoveras the field is being harvested. This would greatly reduce the amount oftime needed for harvesting as well as baling. A baling attachment couldbe part of the stover cart, wherein the electric power system of the tugunit powers the baling attachment in order to bale the stover anddispense bales in a field during combining.

In addition, it is contemplated that multiple grain cart units and/orstover units be used at the same time. For example, it is contemplatedthat multiple grain carts be located adjacent the combine. When onegrain cart is filled, the next grain cart located adjacent the firstgrain cart can automatically be located adjacent the grain auger 134 ofthe combine unit 130 to begin receiving grain therefrom. Thus, it iscontemplated that the multiple grain cart units be connected to oneanother or separate of one another. When connected, an umbilical cordtype member may be connecting the two to operate the grain cart units intandem with one another. However, when unconnected, GPS, or othersensors may be used to locate and position the grain carts adjacent oneanother. This would provide a situation in which there is little to nodelay in aligning a new, emptier cart adjacent the combine grain augerto receive grain therefrom.

Furthermore, when a stover cart 145 is used with or during theharvesting of the combine unit 130, the stover cart may include a balingportion. The baling portion may begin baling the stover as it iscollected by the stover cart 145. When a bale is removed or otherwisedispatched by the stover 145, its exact position can be located or notedand saved in the system. The exact location can then be sent to anotherunit or saved for a later time, during which the bale could be pickedup. For example, the bales could have a geo tracker or tag put on theactual bale or on a system of the unit to indicate the location of thebale. The communication could be transmitted to a baling picker up unitto transmit the location of the bale and whether it has been picked upor not. A unit could then go out in the field and pick up bales andtransport them to a truck or to another location. A vision system of atug unit could be used to determine the best way to pick up a bale, andcould include an awareness system to determine the type of bale, e.g.,large square, small square, or round. When a round bale is used, forinstance, a camera of a tug unit could be used to determine theorientation of the bale for lifting.

The tug units could also be used for other industries and operations notdisclosed thus far. For example, tug units could be used for grassforage. The tug units could automatically attach to a mower or othergrass forage implement to provide electrification of the mowingimplement. This also may include silage cutting or bio-harvesting. Thevision systems of a tug unit and/or mowing implement could be used todetermine where to mow and what has or has not been mowed. Acommunication system of the machine could be used to communicate toother machines such as locations to throw silage. The communicationscould also be with the driver of a vehicle, and knowing the location ofa transport or storage trailer for spraying purposes.

Other markets could be a specialty crop markets for use with the tugmachines. For example, an autonomous and self-propelled tug machine canbe used in specialty markets, such as fruit, vegetables, and nuts. Innut applications, the tug unit can attach to implements to automaticallyshake trees and to collect the nuts that fall from the trees. The treescould include a geo-tag to communicate the location and whether it hasbeen shook, where the tug unit would then give notice to harvesters topick up the nuts from the shaken tree. In fruit or orchid operations,the tug units can provide automatic pruning of fruit trees or vines orotherwise provide automatic harvesting of the fruit. The tug units couldalso be used to automatically follow harvesters in rows or between rowsof fruit and/or vegetables in order to hold the harvested fruits and/orvegetables from the harvesters. The tug units could provide automaticplatforms for human operators wherein they can rapidly and efficientlymove operators to where they need to be for each operation. This couldimprove the efficiency of the human operator and also could providelocation specific in exact locations for the different operations of thehuman operators. Finally, the autonomous tug units could be used forspraying insecticide, pesticide, or fertilizer applications without adriver present. This increases the safety and efficiency of thespraying. Visual recognition of existing vegetation will also beadvantageous to the spraying location and the spray quantity to matchneeds of the vegetation.

FIGS. 54-58 are views showing multiple tug units attached to oneanother. The figures show a first tug unit 150 and second tug unit 155.The first tug unit 150 includes a housing cover 151, trackers/wheels152, a frame 153, and an attachment mechanism 154. The second tug unit155 includes a housing cover 156, tracks/wheels 157, a frame 158, anattachment mechanism 159 and a control box 160. The first tug unit 150includes a member extending from the attachment mechanism 154 to thecontrol box 160 of the second tug unit 155. This may be known as anumbilical cord member wherein the control box 160 receives informationfrom the first tug unit 150 and operates accordingly. Such informationmay include information regarding speed, turning, stopping, delegationof power, or the like. Therefore, the first and second units 150 and 155can operate generally in tandem with one another. In addition, the twounits can multiply their power output to be able to have a greatersingular output therefrom. This is shown in FIGS. 56-58, and would allowa larger implement to be used. The units 150, 155 could also beconnected via a hard hitch to transmit the information and provide forthe tandem tug units, as shown and described. Other types of attachmentmechanisms, such as attaching units via power take-offs input/outputsare also contemplated.

In the figures, a larger implement 161, such as a planter with a greaternumber of row units or a tiller with more tilling tools, is being pulledby the combined first and second tug units 150, 155. The size of theimplement 161 is such that one tug unit may not be able to provideenough power to pull said implement 161. The implement includes a tongue161, frame 163, tools 164, and wheels 165. Therefore, combining the twotug units will allow the larger implement 161 to be pulled withouthaving to adjust the implement 161, while still having the advantages ofthe use of the tug units. This can be advantageous when an operator hasan existing implement that is larger than is capable to be pulled by asingle tug unit. In addition, the tugs may be connected in other meansbesides the umbilical cord. However, the depiction shown in the FIGS.56-58 indicate at least one way in which the combined power of the tugunits can be utilized to pull larger implements than what is capablewith a single tug unit.

Other aspects and embodiments of tug units are also provided as part ofthe invention. It is highly desirable that the tug units runcontinuously and uninterrupted for many hours and overnight withoutintervention and often in remote areas. It is at times not feasible ordesirable (such as due to efficiency, field compaction) to carry all theheavy payload and required propulsion fuel on the vehicle for extendedoperations. Therefore, it may be advantageous to support the autonomoustug units with a field docking station that can autonomously supplypropulsion fuel, seed, fertilizer, insecticide or anything the vehiclemight needed to sustain its operations for extended periods withouthuman intervention. The docking station can also serve as a base stationfor autonomous agricultural vehicles supporting their function as wellas master controlling for multiple autonomous vehicles operating withinthe same area.

The autonomous docking station can be transportable to remote fieldlocations by a transport vehicle, such as a semi-trailer truck. Thedocking station's structure can be built similarly to over-the-roadtrailers. Its major components are built on the structure and include adocking/towing station for single or multiple autonomous agriculturalvehicles, bulk storage for fuel, powering the docking station, andsupporting autonomous vehicles with fuel, seed, fertilizer, insecticideor other needs. The docking station is capable of having an independentpower generation, an electronics bay, distributed sensors that monitorand control the autonomous operation of the supported autonomous vehicleas well as to support and manage docking rendezvous and field operationswith individual or multiple vehicles. The docking station also hassystems for bulk transfer of fuel and payloads to vehicles throughstandardized or non-standard umbilical or docking adapters. Furthermore,it is contemplated that the docking station house maintenance or tendertug units, which can supplement the use of the tug/implements in afield.

As has been mentioned, the invention contemplates the use of maintenanceor tender tug units. These are units that can be dedicated, eithertemporarily or permanently, to providing support for other tug units.The maintenance units can receive a signal from another unit as to aproblem. The problem may include, but is not limited to, fuel needs,grain needs, other particulate needs, repair, modular replacement,towing, assessing, or the like. For example, a tender unit could be usedto refill the fuel of the power supply for the electric generator, couldrefill seed for planting, could replace a modular row unit, could tow astuck unit, or could utilize sensors and other diagnostic tools in orderto assess why a particular unit is not operating correctly. When theassessment has been completed, the maintenance unit could then transmitthe information to a master module, make necessary repairs and save datarelated thereto, alert an operator as to the situation, alert a manualrepair service, or even order necessary parts needed for repair.

FIG. 59 is a schematic diagram showing multiple units in a field 166. Asshown in FIG. 59, a field 166 may include a first tug unit 167 attachedto a first implement 168, a second tug unit 170 attached to a secondimplement 171, and a tractor 173 attached to a tractor implement 174.Furthermore, there is another vehicle 176 with a vehicle implement 177shown outside the field 166. The first and second tug units 166, 167, aswell as the tractor 173 are performing an operation within the field.The use of the multiple vehicles in the field at the same time willreduce the amount of time to complete the operations.

In order to ensure that the units and tractor do not overlap one anotheror otherwise run into one another, the units emit signals, which can becommunicated and transmitted between each other. Thus, the first tugunit 167 emits at least one signal 169, the second tug unit 170communicates at least one signal 172, and the tractor 173 communicatesat least tractor signal 175. Furthermore, the vehicle 176 transmits atleast signal 178. These signals can include a vast amount ofinformation. For example, these signals can communicate the location ofthe units relative to one another as well as relative to the location inthe field. The signals can also communicate any alerts, warnings, statusupdates, or other actions that may be occurring. For example, if thefirst unit 167 indicates that it is low on material, it may alert to theremaining units of such. This can indicate to the vehicle 176 to locatethe first unit 167 and to refill the implement 168. If one of the unitsis damaged, it can also communicate to each other and to the vehicle 176as such, and appropriate action can be taken. Additionally, thesesignals can include general status updates of soil conditions, trashbuild up, weed concentration, and the like. When the units and/ortractors are combined, they can also indicate to each other as to theneed to dispose of grain or stover, and include to the vehicle to pickup grain from one or more places. If the vehicle 176 is a semi or othergrain storage vehicle, the units can transport the grain from the fieldto the vehicle implement 177.

Furthermore, the figure shows a tower 179 emitting a tower signal 180.The tower 179, which could be one of many towers around the field, canprovide additional location determining aspects for a field. Therefore,the first unit 167 can emit a signal to the tower 180 that can thencommunicate to the vehicle 176 as to the exact location of the unit 167in the field 166. The height and/or position of the tower may increasethe efficiency of the communication between the actors in the field. Thetower can also communicate to another field or to a master modulelocated at a different location as to the status, alerts, warnings, orother data obtained by the vehicles in the field. In addition, it iscontemplated that the data from the signals can be stored for futurepurposes. For example, as the units operate in the field, they canobtain data, such as field conditions to prepare future plantingschedules and/or maps. Therefore, the invention contemplates a systemincluding memory for data storage. The memory can be included in each ofthe vehicles, can be included at a master module location, or caninclude a combination wherein the data is stored by memory at multipleplaces for future use.

FIG. 60 is a diagram of an example of a module 185 for use with thesystem including multiple vehicles and/or units, such as disclosed inFIG. 59. For example, the tractor 173 may include the module 185 asshown in FIG. 60. The module 185 can include numerous information, andis not to be limited to the information shown in FIG. 60. However, forexemplary purposes, the module 185 shown includes such information suchas identifying the units. For example, in FIG. 60 the unit oneidentifier is shown in box 186, unit two is shown in box 187, and unit Nis shown in box 188, where N is used to indicate the ultimate number ofunits in the field. For example, the invention contemplates thatgenerally any number of units can be utilized at one time, and is not tobe limited to the use of two units. Therefore, such as when five unitsare used, the number of boxes for the units will be five with theultimate N number being five. Furthermore, implement identification forthe tractor containing the master module 185 can be shown in box 189 andvehicle identification can be shown in box 190. Information for each ofthe units can be shown in boxes 191-195. Such information may include,but is not limited to, the status of the unit and/or implementsconnected thereto, location of the units, alerts or warnings associatedwith the units, field conditions, seed conditions, or the like. Suchinformation may include the rate of planting, the amount of down forceprovided for each implement, the soil conditions, seed conditions,amount of remaining material, type of spraying, amount of spraying,moisture content, or generally any other type of information that may beuseful for any of the agricultural based operations, as disclosed. Inaddition, the information boxes may include warnings or alerts that canflash or otherwise provide notice to the master module. For example,when an implement or unit is damaged, the information can alert to whatexactly is damaged. When an implement is running low on material, theinformation can be disclosed on the screen of the master module 185. Anoperator can then select to send a repair or tender unit to refill theimplement. In addition, the unit can be a closed looped situation inwhich the low or empty implement can automatically be repaired or filledby a tender unit. Thus, the amount and type of information disclosed inthe master module is generally limitless. Furthermore, the module 185 orthe system in general may include memory for storing data. The datacould be recalled by the master module, such as in a future planting orharvesting year to indicate choices or other information.

Additional aspects include the use of a manual drive remote. The manualdrive remote will allow for the operation of any aspect of the tugand/or tug and implement combination. For example, it will do all of theoperating functions in either a wired or wireless manner. When wireless,Wi-Fi, Bluetooth, or otherwise wireless technologies could be used tooperate the remote. Furthermore, the manual drive remote can be usedwhen a cab is used with the tug unit, as well as when no cab is used.

Furthermore safety elements can be included, such as redundant andindependent safety systems that prevent the tug units from inadvertentlymoving. These can include, but are not limited to, vehicle-mountedemergency stop buttons, safety handheld remotes, autonomous lockout, aswell as other lockout mechanisms. For example, a battery-powered, safetyhandheld remote transmitter is provided with each tug unit. The safetyhandheld remote includes an emergency stop button that allows the userto perform an emergency stop remotely over a limited distance, as longas the remote is within communication range of the tractor. The safetyhandheld remote emergency stop button halts only the unit controlled bythe remote. A Run/Pause switch that switches the units betweenautonomous and manual (non-autonomous) operation is also included.

Other advantages of the invention will be readily apparent. For example,the addition of large fuel and/or seed tanks may allow the multipleunits to be operated for longer periods of time. It is even contemplatedthat the units could operate around the clock, in order to continueoperations to be able to be sure to finish the operations in a period oftime. Other types of engines could be utilized to operate the drivesystem or to provide power to the electrical power supply. Coal,turbine, solar, or fuel cell engines could be included as part of theunits. Other sensors, such as lights, infrared, and the like could alsobe used.

Therefore, a system, method, and apparatus of autonomous farm basedoperations have been disclosed. The invention contemplates numerousvarious, options, alternatives, and is not to be limited to the specificembodiments shown and described herein. For example, as mentioned, thesystems are not to be limited to agriculture based operations, and caninclude generally any operations in which autonomous units may beutilized. Those skilled in the art will appreciate that, while theinvention has here forth been disclosed, various other changes may alsobe included within the skill of the invention.

What is claimed is:
 1. A method of performing at least one agriculturaloperation in an autonomous manner, the method comprising: selecting anagricultural operation to perform from the group consisting of a.planting; b. tilling; c. baling; d. harvesting; e. spraying; f.transporting; g. cultivating; h. harrowing; i. plowing; j. fertilizing;k. broadcasting; and l. loading or unloading; attaching an autonomousvehicle to an agricultural implement; sensing agriculturalcharacteristics from one or more sensors associated with theagricultural implement or autonomous vehicle; configuring operatinginformation based, at least in part, on the sensed agriculturalcharacteristics; and using the combined autonomous vehicle andagricultural implement to autonomously perform the selected agriculturaloperation.
 2. The method of claim 1 wherein the autonomous vehicleincludes a frame, a power source, and a drive system for operatingwheels or tracks in a self-propelled and autonomous manner.
 3. Themethod of claim 2 further comprising providing power to the agriculturalimplement from the autonomous vehicle to autonomously perform theselected agricultural operation.
 4. The method of claim 2 furthercomprising obtaining positioning information with a module operativelyconnected to the autonomous vehicle.
 5. The method of claim 4 whereinthe step of obtaining positioning information with the module furthercomprises obtaining images, proximity information, type of attachmentmechanism required to attach the implement to the autonomous vehicle,and alignment information for aligning and attaching the vehicle to theimplement.
 6. The method of claim 4 further comprising using theobtained positioning information to align an attachment mechanism of theautonomous vehicle with a portion of the agricultural implement, whereinsaid alignment comprises autonomously operating the autonomous vehicleto begin movement of the autonomous vehicle towards the agriculturalimplement.
 7. The method of claim 6 wherein the attachment mechanismcomprises: a. an arm; b. a three-point hitch; c. a power takeoff; d. aflatbed; or e. a cable lift.
 8. The method of claim 6 wherein theattachment mechanism comprises a first attachment mechanism and a secondattachment mechanism positioned at opposing ends of the frame, whereinthe first attachment mechanism and the second attachment mechanism areeach selected from one of a plurality of attachment mechanisms.
 9. Themethod of claim 8 wherein the first attachment mechanism and the secondattachment mechanism are each configured to operably connect to adifferent type of receiving mechanism of the agricultural implement. 10.The method of claim 8 further comprising the steps of: attaching thesecond attachment mechanism to a planter implement; collecting data withthe agricultural implement attached to the first attachment mechanism;transmitting the data to the planter implement to perform the selectedagricultural operation based, at least in part, on the transmitted data.11. The method of claim 1 further comprising receiving operatinginformation to actively adjust the implement during performance of theselected agricultural operation.
 12. The method of claim 1 wherein theagricultural characteristics are selected from the group consisting of:a. moisture content; b. compaction; c. temperature; d. slope of terrain;and e. soil composition.
 13. The method of claim 1 further comprisingattaching electric, pneumatic, hydraulic lines between the autonomousvehicle and the agricultural implement.
 14. A method of performing atleast one agricultural operation in an autonomous manner, the methodcomprising: providing a plurality of autonomous vehicles capable ofcontinuously communicating information to each of the other autonomousvehicles; attaching each of the autonomous vehicles to an agriculturalimplement capable of performing at least one agricultural operation;sensing agricultural characteristics from one or more sensorselectrically connected to an intelligent control of the plurality ofautonomous vehicles; configuring operating information based, at leastin part, on the sensed agricultural characteristics; and using thecombined autonomous vehicles and agricultural implements with oneanother to autonomously perform at least one agricultural operation byeach of the autonomous vehicles; wherein the at least one agriculturaloperation to perform is selected from the group consisting of a.planting; b. tilling; c. baling; d. harvesting; e. spraying; f.transporting; g. cultivating; h. harrowing; i. plowing; j. fertilizing;k. broadcasting; and l. loading or unloading.
 15. The method of claim 14further comprising transporting the plurality of autonomous vehicles ina leading path between a first location and a second location.
 16. Themethod of claim 15 further comprising continuously communicating thefollowing path among the other autonomous vehicles.
 17. The method ofclaim 15 further comprising automatically adjusting a physical aspect ofone of the autonomous vehicles during transport.
 18. The method of claim15 further comprising adjusting a transporting aspect of one of theautonomous vehicles, said transporting aspect comprising the speed of,path of, weight of, or distance between the autonomous vehicles.
 19. Asystem for performing at least one agricultural operation in anautonomous manner, comprising: a plurality of autonomous vehiclesoperating in a common area, said plurality of autonomous vehiclescommunicating with one another; one or more sensors electricallyconnected to an intelligent control of each of the autonomous vehiclesand capable of sensing agricultural characteristics; at least oneagricultural implement operatively attached to each of the autonomousvehicles and capable of performing at least one agricultural operationselected from the group consisting of a. planting; b. tilling; c.baling; d. harvesting; e. spraying; f transporting; g. cultivating; h.harrowing; i. plowing; j. fertilizing; k. broadcasting; and l. loadingor unloading.
 20. The method of claim 19 wherein the one or more sensorscomprise vision sensors, radar sensors, LIDAR sensors, heat sensors, ormoisture content sensors.